CN102941580A - Long-strake mechanical arm device in finite-scale space - Google Patents
Long-strake mechanical arm device in finite-scale space Download PDFInfo
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- CN102941580A CN102941580A CN2012104342865A CN201210434286A CN102941580A CN 102941580 A CN102941580 A CN 102941580A CN 2012104342865 A CN2012104342865 A CN 2012104342865A CN 201210434286 A CN201210434286 A CN 201210434286A CN 102941580 A CN102941580 A CN 102941580A
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Abstract
The invention discloses a long-strake mechanical arm device in a finite-scale space. The long-strake mechanical arm device comprises a fixed arm, a movable arm, a motor, a transmission mechanism, a movable-arm stroke limiting device and a movable-arm guiding mechanism. The stepping motor is used for driving and synchronous pulleys are used for transmission, so that the movable mechanical arm fixed with a synchronous belt is driven to stretch; the movable mechanical arm is sleeved into the fixed mechanical arm, and rolling bearings mounted at the periphery of fixed mechanical arm guide the movement of the movable mechanical arm, so that not only is a guiding function performed, but also the frictional force is reduced, and the motion resistance is relieved; and the rolling bearings mounted at the periphery of the fixed arm are used for guiding the movable arm, the situation that a longer fixed arm is required when linear guide rails are used for guiding, so that the structural size is reduced, and a larger guiding range and a sufficiently large stroke are acquired. The mechanical arm device is suitable for being used in automatic equipment on occasions which require long-strake movement and have infinite-scale space.
Description
Technical field
The present invention relates to a kind of robotic arm, particularly a kind of rectilinear motion mechanical arm that stretches can drive connected manipulator and finish the target action.
Background technology
In some automation equipments, workpiece need to transfer load to another station from a station, a general configuration mechanical load-transferring arm.Some occasion, in order to reduce the physical dimension of whole equipment, this moment, the length of fixed arm was restricted, and lever arm requires larger stroke.Satisfy the needs of large stroke, the guiding size of mechanical arm needs long, if adopt the line slideway form, then the length of fixed arm need to be long, causes like this frame for movement huge, and existing mechanical arm is desirable not enough in finite size space planted agent's time spent.
Summary of the invention
In order to solve the prior art problem, the object of the invention is to overcome the deficiency that prior art exists, large stroke robot arm device in a kind of finite size space is provided, employing is installed on fixed arm rolling bearing all around as the guiding of lever arm, be used for changing line slideway needs longer fixed arm as guiding situation, to reduce physical dimension, obtain simultaneously large guide range and enough large stroke.
Design of the present invention is as follows:
The basic principle of robot arm device is to adopt stepper drive motors to drive, and by synchronous belt pulley transmission, drives flexible with the fixing mobile machine arm of Timing Belt; The mobile machine arm is placed in the solid mechanical arm, and the guiding that it moves relies on and is installed on solid mechanical arm rolling bearing all around, so both can play guide effect, can reduce friction again, alleviates the resistance of motion.
According to the foregoing invention design, the present invention adopts following technical scheme:
Large stroke robot arm device in a kind of finite size space, comprise a fixed arm, a lever arm, one drives drive motors, transmission mechanism, lever arm distance caging device and lever arm guiding mechanism, the stiff end of fixed arm is equipped with the fixed arm riser, the stiff end of fixed arm is fixedly connected with external equipment or facility, lever arm moves back and forth the flexible rectilinear motion of realizing mechanical arm at fixed arm inner chamber cathetus, the free end of lever arm is overhung at outside the free end opening of fixed arm, the free end of lever arm is finished the target action by connecting work package, it is square straight tube that fixed arm and lever arm are all cross section, the driving drive motors is stepper drive motors, drive drive motors is installed in fixed arm by a drive motors fixed head a side, transmission mechanism is belt gear, comprise Timing Belt, onesize an active synchronization belt wheel and a passive and synchronous belt wheel, the stiff end of the close fixed arm of active synchronization belt wheel also is fixedly installed in the fixed arm inner chamber, wheel shaft one end of active synchronization belt wheel is by belt wheel gripper shoe rotational support and by a shaft coupling and coaxial connection of main shaft that drives drive motors, outrigger shaft of the coaxial connection of the wheel shaft other end of active synchronization belt wheel, outrigger shaft is by a tensioning side plate rotational support, the belt wheel gripper shoe is connected with the tensioning side plate and is connected with fixed arm fixed installation, passive and synchronous belt wheel fixedly mounts on the passive and synchronous belt wheel fixed axis, passive and synchronous belt wheel is installed in the inner chamber of lever arm, make passive and synchronous belt wheel with respect to active synchronization belt wheel positioning supports by a Timing Belt bracing frame, make be paperwrapped on the active synchronization belt wheel and passive and synchronous belt wheel on the Timing Belt tensioning, lever arm also by Timing Belt pressing plate with is connected a Timing Belt supporting plate and is connected with synchronous belt locking, Timing Belt tractive lever arm is moved back and forth at fixed arm inner chamber cathetus, the lever arm distance caging device is installed on the fixed arm, the lever arm distance caging device comprises the stopping means of lever arm retraction limit position and the distance caging device of lever arm elongation limit position, each distance caging device all comprises travel switch and sensor stand, travel switch is installed on the sensor stand, sensor stand is installed on the fixed arm, the limit position of stretching out and retracting to lever arm retrains, the lever arm guiding mechanism places between fixed arm and the lever arm, make lever arm free-extension in the fixed arm inner chamber, the lever arm guiding mechanism is the wheel rail mechanism, comprise protruding gib block and the idler wheel mechanism that is arranged on the fixed arm inner surface on the outer surface that is arranged at lever arm, the roller of idler wheel mechanism is realized relatively moving of lever arm and fixed arm along the gib block walking respectively, gib block extends along the lever arm direction of motion, article at least 4, gib block is arranged at respectively on 4 sides of outer surface of lever arm, comprise up and down two top end support guide bars and about two lateral support gib blocks, at least be provided with two groups of idler wheel mechanisms along every gib block, idler wheel mechanism comprises roller supporting axle and roller, the square notch of offering at fixed arm, the roller supporting seat seals square notch from the outside of fixed arm, form the open type Trolley case that idler wheel mechanism is installed, the open type Trolley case comprises case diapire and case sidewall, the case diapire is formed by the roller supporting seat, square pocket side wall forms the case sidewall, on square pocket side wall, also be provided with the wheel shaft back-up block at support roller back shaft two ends, idler wheel mechanism is installed in the open type Trolley case with embedded, roller is rotated in the open type Trolley case, and then roller is walked along gib block, the roller supporting seat comprises respectively top end roller supporting seat and side roll supporting seat, the wheel shaft back-up block also comprises respectively top return pulley axle back-up block and side wheel shaft back-up block, the roller supporting axle also comprises respectively top end roller supporting axle and side roll back shaft, roller also comprises respectively top end roller and side roll, namely be positioned at fixed arm up and down inner surface the open type Trolley case by the top end roller supporting seat, the square pocket side wall that top return pulley axle back-up block and fixed arm are offered up and down forms, the two ends of roller supporting axle at the bottom of the return pulley axle back-up block support top of top, top end roller supporting axle drives top end roller and rotates, and the open type Trolley case of side inner surface that is positioned at fixed arm is by the side roll supporting seat, the square pocket side wall that side wheel shaft back-up block and fixed arm side are offered forms, the two ends of side wheel shaft back-up block support side roller supporting axle, the side roll back shaft drives side roll and rotates.
The roller of above-mentioned rollers mechanism is rolling bearing, and the inner ring of rolling bearing and roller supporting axle immovable fitting are rotated synchronously, and the outer ring of rolling bearing contacts with gib block.
Every group of above-mentioned rollers mechanism comprises two rolling bearings arranged side by side.
Above-mentioned Timing Belt bracing frame is Y shaped bracket, have afterbody V-arrangement supporting frame part and head supporting frame part, the end of afterbody V-arrangement supporting frame part is near the surface of fixed arm riser, between the upper and lower opening support body of afterbody V-arrangement bracing frame, also pass through support afterbody tensioning transverse slat supplemental support of fixed installation, synchronous belt mechanism has auxiliary tensioning apparatus, auxiliary tensioning apparatus comprises the adjustment screw of threaded engagement and adjusts screw base, support afterbody tensioning transverse slat is rotationally connected with the end of adjusting screw, adjusting screw base is fixedly connected with fixed arm, tune the position that whole screw is adjusted afterbody tensioning transverse slat by control, making afterbody tensioning transverse slat drive the Timing Belt bracing frame moves axially along fixed arm, and then the wheelspan between adjustment active synchronization belt wheel and the passive and synchronous belt wheel, thereby adjust the tensioning degree of Timing Belt, the end of head supporting frame part also rolls with the lever arm inner surface by a rotating cylinder mechanism and contacts, rotating cylinder mechanism comprises rotating cylinder bolster and stop sleeve, and stop sleeve rotates around the rotating cylinder bolster.
Above-mentioned active synchronization belt wheel and its wheel shaft carry out axial location by flat key, by the shaft shoulder and active synchronization belt wheel spacer the active synchronization belt wheel are carried out axial restraint, along Timing Belt a series of Timing Belt back shafts that also distribute, make the further tensioning of Timing Belt.
Lever arm near-end in above-mentioned fixed arm inside also is provided with auxiliary displacement guide support roller, and the rotating shaft of displacement guide support roller is fixedly mounted on the lever arm near-end, and support roller rolls along the inner surface of fixed arm.
As the preferred technical scheme of the present invention, preferably be provided with three groups of idler wheel mechanisms along every gib block.
The present invention has following apparent outstanding substantive distinguishing features and remarkable advantage compared with prior art:
1. robot arm device of the present invention adopts stepper drive motors to drive in the limited situation of fixed arm bulk, and by synchronous belt pulley transmission, lever arm can be realized the stretching motion of larger stroke, and have guiding accuracy height, resistance little, reduce the advantage such as cost.Suit in automation equipment, need large stroke motion and the limited occasion of bulk.
2. arrange respectively rolling bearing around the fixed arm of robot arm device of the present invention, lever arm is placed in the fixed arm, rolling bearing both can play guide effect, friction when the arm that can take in sail again moves, changing line slideway needs the shortcoming of longer fixed arm as guiding, to reduce physical dimension, obtain simultaneously large guide range and enough large stroke.
Description of drawings
Fig. 1 is the large stroke robot arm device schematic diagram in the finite size of the present invention space.
Fig. 2 is the fixed arm of Fig. 1 and the plan structure schematic diagram of the axial horizontal cutting plane of lever arm.
Fig. 3 is the cutaway view along the A-A line among Fig. 1.
Fig. 4 is the cutaway view along the B-B line among Fig. 1.
The specific embodiment
By reference to the accompanying drawings, details are as follows to the preferred embodiments of the present invention:
Embodiment one:
Referring to Fig. 1～Fig. 4, large stroke robot arm device in a kind of finite size space, comprise a fixed arm 4, a lever arm 11, one drives drive motors 30, transmission mechanism, lever arm distance caging device and lever arm guiding mechanism, the stiff end of fixed arm 4 is equipped with fixed arm riser 1, the stiff end of fixed arm 4 is fixedly connected with external equipment or facility, lever arm 11 moves back and forth the flexible rectilinear motion of realizing mechanical arm at fixed arm 4 inner chamber cathetus, the free end of lever arm 11 is overhung at outside the free end opening of fixed arm 4, the free end of lever arm 11 is finished the target action by connecting work package, it is square straight tube that fixed arm 4 and lever arm 11 are all cross section, driving drive motors 30 is stepper drive motors, drive drive motors 30 is installed in fixed arm 1 by a drive motors fixed head 31 a side, transmission mechanism is belt gear, comprise Timing Belt 18, onesize an active synchronization belt wheel 5 and a passive and synchronous belt wheel 9, the stiff end of active synchronization belt wheel 5 close fixed arms 4 also is fixedly installed in fixed arm 4 inner chambers, wheel shaft one end of active synchronization belt wheel 5 is by belt wheel gripper shoe 28 rotational support and by a shaft coupling 29 and coaxial connection of main shaft that drives drive motors 30, outrigger shaft 19 of the coaxial connection of the wheel shaft other end of active synchronization belt wheel 5, outrigger shaft 19 is by tensioning side plate 21 rotational support, belt wheel gripper shoe 28 is connected with the tensioning side plate all and is connected with fixed arm 4 fixed installations, on the passive and synchronous belt wheel fixed axis 15 of passive and synchronous belt wheel 9 fixed installations, passive and synchronous belt wheel 9 is installed in the inner chamber of lever arm 11, make passive and synchronous belt wheel 9 with respect to active synchronization belt wheel 5 positioning supports by a Timing Belt bracing frame 3, make be paperwrapped on the active synchronization belt wheel 5 and passive and synchronous belt wheel 9 on Timing Belt 18 tensionings, lever arm 11 also by Timing Belt pressing plate 17 with is connected a Timing Belt supporting plate 16 and locks with Timing Belt 18 and be connected, Timing Belt 18 tractive lever arms 11 are moved back and forth at fixed arm 4 inner chamber cathetus, the lever arm distance caging device is installed on the fixed arm 4, the lever arm distance caging device comprises the stopping means of lever arm 11 retraction limit positions and the distance caging device of lever arm 11 elongation limit positions, each distance caging device all comprises travel switch 26 and sensor stand 12, travel switch 26 is installed on the sensor stand 12, sensor stand 12 is installed on the fixed arm 4, the limit position of stretching out and retracting to lever arm 11 retrains, the lever arm guiding mechanism places between fixed arm 4 and the lever arm 11, make lever arm 11 free-extension in fixed arm 4 inner chambers, the lever arm guiding mechanism is the wheel rail mechanism, comprise protruding gib block and the idler wheel mechanism that is arranged on fixed arm 4 inner surfaces on the outer surface that is arranged at lever arm 11, the roller of idler wheel mechanism is realized relatively moving of lever arm 11 and fixed arm 4 along the gib block walking respectively, gib block extends along lever arm 11 directions of motion, article at least 4, gib block is arranged at respectively on 4 sides of outer surface of lever arm 11, comprise up and down two top end support guide bars 34 and about two lateral support gib blocks 37, at least be provided with two groups of idler wheel mechanisms along every gib block, idler wheel mechanism comprises roller supporting axle and roller, the square notch of offering at fixed arm 4, the roller supporting seat seals square notch from the outside of fixed arm 4, form the open type Trolley case that idler wheel mechanism is installed, the open type Trolley case comprises case diapire and case sidewall, the case diapire is formed by the roller supporting seat, square pocket side wall forms the case sidewall, on square pocket side wall, also be provided with the wheel shaft back-up block at support roller back shaft two ends, idler wheel mechanism is installed in the open type Trolley case with embedded, roller is rotated in the open type Trolley case, and then roller is walked along gib block, the roller supporting seat comprises respectively top end roller supporting seat 7 and side roll supporting seat 24, the wheel shaft back-up block also comprises respectively top return pulley axle back-up block 32 and side wheel shaft back-up block 36, the roller supporting axle also comprises respectively top end roller supporting axle 10 and side roll back shaft 25, roller also comprises respectively top end roller 8 and side roll 35, namely be positioned at the open type Trolley case of up and down inner surface of fixed arm 4 by top end roller supporting seat 7, the square pocket side wall that top return pulley axle back-up block 32 and fixed arm 4 are offered up and down forms, the two ends of roller supporting axle 10 at the bottom of return pulley axle back-up block 32 support tops of top, top end roller supporting axle 10 drives top end roller 8 and rotates, and the open type Trolley case of side inner surface that is positioned at fixed arm 4 is by side roll supporting seat 24, the square pocket side wall that side wheel shaft back-up block 36 and fixed arm 4 sides are offered forms, the two ends of side wheel shaft back-up block 36 support side roller supporting axles 25, side roll back shaft 25 drives side roll 35 and rotates.In the present embodiment, lever arm 11 can be realized the stretching motion of larger stroke, and have guiding accuracy height, resistance little, reduce the advantage such as cost.Suit in automation equipment, need large stroke motion and the limited occasion of bulk.
The operation principle of the large stroke robot arm device of present embodiment is as follows:
The initial position of mechanical arm is lever arm 11 retracted modes, during work, is driven by stepper drive motors, by synchronous belt pulley transmission, drives lever arm 11 motions fixing with Timing Belt; When Timing Belt 18 was rotated counterclockwise, lever arm 11 was protruding, when Timing Belt 18 turns clockwise, and lever arm 11 retraction initial positions.Lever arm 11 is placed in the fixed arm 4, and the guiding that it moves relies on and is installed on around the fixed arm 4, and signal controlling is carried out by travel switch 26 in the flexible limit position of lever arm.
Referring to Fig. 4, in the present embodiment, the roller of above-mentioned rollers mechanism is rolling bearing, and the inner ring of rolling bearing and roller supporting axle immovable fitting are rotated synchronously, and the outer ring of rolling bearing contacts with gib block.Arrange that respectively rolling bearing, lever arm 11 are placed in the fixed arm 4 around lever arm 11, rolling bearing both can play guide effect, the friction the when arm that can take in sail again moves.
Referring to Fig. 4, in the present embodiment, every group of above-mentioned rollers mechanism comprises two rolling bearings arranged side by side, and rolling bearing arranged side by side makes the more stable work of guiding mechanism, improves the precision of guiding, the shock-resistant ability when improving the mechanical mechanism transmission.
Referring to Fig. 1 and Fig. 2, in the present embodiment, above-mentioned Timing Belt bracing frame 3 is Y shaped bracket, have afterbody V-arrangement supporting frame part and head supporting frame part, the end of afterbody V-arrangement supporting frame part is near the surface of fixed arm riser 1, between the upper and lower opening support body of afterbody V-arrangement bracing frame, also pass through support afterbody tensioning transverse slat 2 supplemental support of fixed installation, Timing Belt 18 mechanisms have auxiliary tensioning apparatus, auxiliary tensioning apparatus comprises the adjustment screw 23 of threaded engagement and adjusts screw base 22, support afterbody tensioning transverse slat 2 is rotationally connected with the end of adjusting screw 23, adjusting screw base 22 is fixedly connected with fixed arm 4, tune the position that whole screw 23 is adjusted afterbody tensioning transverse slat 2 by control, making afterbody tensioning transverse slat 2 drive Timing Belt bracing frame 3 moves axially along fixed arm 4, and then the wheelspan between adjustment active synchronization belt wheel 5 and the passive and synchronous belt wheel 9, thereby adjust the tensioning degree of Timing Belt 18, the end of head supporting frame part also rolls with lever arm 11 inner surfaces by a rotating cylinder mechanism and contacts, rotating cylinder mechanism comprises rotating cylinder bolster 14 and stop sleeve 13, and stop sleeve 13 rotates around rotating cylinder bolster 14.In the present embodiment, Y shaped bracket is the important leverage that transmission mechanism runs well, it makes Timing Belt 18 tensionings, realize power transmission, also make simultaneously passive and synchronous belt wheel 9 and passive and synchronous belt wheel fixed axis 15 all be in contactless state with lever arm 11 and fixed arm 4, passive and synchronous belt wheel 9 and passive and synchronous belt wheel fixed axis 15 are suspended from the inner chamber of lever arm 11, adopt stepper drive motors to drive, by synchronous belt pulley transmission, make the lever arm 11 of fixing with Timing Belt 18 realize stretching motions.
Referring to Fig. 2 and Fig. 3, in the present embodiment, above-mentioned active synchronization belt wheel 5 carries out axial location with its wheel shaft by flat key 20, carry out axial restraint by the shaft shoulder and 33 pairs of active synchronization belt wheels of active synchronization belt wheel spacer 5, along Timing Belt 18 a series of Timing Belt back shafts 27 that also distribute, make Timing Belt 18 further tensionings, the frictional force between Timing Belt 18 and active synchronization belt wheel 5 and the passive and synchronous belt wheel 9 is increased, prevent skidding, guaranteed the precision of transmission displacement.
Referring to Fig. 1, in the present embodiment, lever arm 11 near-ends in above-mentioned fixed arm 4 inside also are provided with auxiliary displacement guide support roller 6, the rotating shaft of displacement guide support roller 6 is fixedly mounted on lever arm 11 near-ends, support roller 6 rolls along the inner surface of fixed arm 4, displacement guide support roller 6 brings the impact of whole transmission mechanism in the time of can reducing owing to the sudden change of lever arm 11 direction of displacement, the vibrations that produce during buffering lever arm 11 unexpected indentation fixed arms 4 inside make the mechanical arm more stable work.
Embodiment two:
Present embodiment and embodiment one are basic identical, and special feature is:
Be provided with three groups of idler wheel mechanisms along every gib block, it is more smooth and easy when lever arm 11 is stretched along fixed arm 4, simultaneously the lever arm guiding mechanism job stability, resistance and simple in structure between find a preferably corresponding point, make the present embodiment robot arm device in the limited situation of fixed arm bulk, lever arm can be realized the freedom of larger stroke and stretching motion smoothly, guiding accuracy is high, and resistance is little, the mechanical arm low cost of manufacture.
The above is illustrated the embodiment of the invention by reference to the accompanying drawings; but the invention is not restricted to above-described embodiment; can also make multiple variation according to the purpose of innovation and creation of the present invention; all according to technical solution of the present invention Spirit Essence and principle under make change, modification, substitute, combination, simplify; all should be the substitute mode of equivalence; as long as goal of the invention according to the invention; only otherwise deviate from know-why and the inventive concept of the large stroke robot arm device in the finite size of the present invention space, all belong to protection scope of the present invention.
Claims (7)
1. the large stroke robot arm device in the finite size space, comprise a fixed arm (4), a lever arm (11), a drive motors (30), transmission mechanism, lever arm distance caging device and lever arm guiding mechanism, the stiff end of described fixed arm (4) is equipped with fixed arm riser (1), the stiff end of described fixed arm (4) is fixedly connected with external equipment or facility, described lever arm (11) moves back and forth the flexible rectilinear motion of realizing mechanical arm at described fixed arm (4) inner chamber cathetus, the free end of described lever arm (11) is overhung at outside the free end opening of described fixed arm (4), the free end of described lever arm (11) is finished the target action by connecting work package, it is characterized in that: it is square straight tube that described fixed arm (4) and described lever arm (11) are all cross section, described drive motors (30) is stepper motor, described drive motors (30) is installed in a side of described fixed arm (1) by a motor fixing plate (31), described transmission mechanism is belt gear, comprise Timing Belt (18), an onesize active synchronization belt wheel (5) and a passive and synchronous belt wheel (9), the stiff end of the close described fixed arm (4) of described active synchronization belt wheel (5) also is fixedly installed in described fixed arm (4) inner chamber, wheel shaft one end of described active synchronization belt wheel (5) is by belt wheel gripper shoe (28) rotational support and by main shaft coaxial be connected of a shaft coupling (29) with described drive motors (30), the wheel shaft other end of described active synchronization belt wheel (a 5) outrigger shaft of coaxial connection (19), described outrigger shaft (19) is by a tensioning side plate (21) rotational support, described belt wheel gripper shoe (28) be connected tensioning side plate (21) and all be connected with described fixed arm (4) fixed installation, on described passive and synchronous belt wheel (9) the passive and synchronous belt wheel fixed axis of fixed installation (15), described passive and synchronous belt wheel (9) is installed in the inner chamber of lever arm (11), make described passive and synchronous belt wheel (9) with respect to described active synchronization belt wheel (5) positioning supports by a Timing Belt bracing frame (3), make and be paperwrapped in described active synchronization belt wheel (5) upward and Timing Belt (18) tensioning on the described passive and synchronous belt wheel (9), described lever arm (11) is also by a Timing Belt pressing plate (17) with is connected a Timing Belt supporting plate (16) and Timing Belt (18) and locks and be connected, the described lever arm of described Timing Belt (18) tractive (11) is moved back and forth at described fixed arm (4) inner chamber cathetus, described lever arm distance caging device is installed on the described fixed arm (4), described lever arm distance caging device comprises the stopping means of described lever arm (11) retraction limit position and the distance caging device of described lever arm (11) elongation limit position, each described distance caging device all comprises travel switch (26) and sensor stand (12), described travel switch (26) is installed on the described sensor stand (12), described sensor stand (12) is installed on the described fixed arm (4), the limit position of stretching out and retracting to described lever arm (11) retrains, described lever arm guiding mechanism places between described fixed arm (4) and the described lever arm (11), make described lever arm (11) free-extension in described fixed arm (4) inner chamber, described lever arm guiding mechanism is the wheel rail mechanism, comprise protruding gib block and the idler wheel mechanism that is arranged on described fixed arm (4) inner surface on the outer surface that is arranged at described lever arm (11), the roller of described idler wheel mechanism is realized relatively moving of described lever arm (11) and described fixed arm (4) along described gib block walking respectively, described gib block extends along described lever arm (11) direction of motion, article at least 4, described gib block is arranged at respectively on 4 sides of outer surface of described lever arm (11), comprise up and down two top end support guide bars (34) and about two lateral support gib blocks (37), at least be provided with two groups of described idler wheel mechanisms along every described gib block, described idler wheel mechanism comprises roller supporting axle and roller, the square notch of offering at described fixed arm (4), described roller supporting seat seals square notch from the outside of described fixed arm (4), form the open type Trolley case that described idler wheel mechanism is installed, described open type Trolley case comprises case diapire and case sidewall, described case diapire is formed by the roller supporting seat, described square pocket side wall forms described case sidewall, on square pocket side wall, also be provided with the wheel shaft back-up block that supports described roller supporting axle two ends, idler wheel mechanism is installed in the described open type Trolley case with embedded, described roller is rotated in described open type Trolley case, and then described roller is walked along described gib block, described roller supporting seat comprises respectively top end roller supporting seat (7) and side roll supporting seat (24), described wheel shaft back-up block also comprises respectively top return pulley axle back-up block (32) and side wheel shaft back-up block (36), described roller supporting axle also comprises respectively top end roller supporting axle (10) and side roll back shaft (25), described roller also comprises respectively top end roller (8) and side roll (35), namely be positioned at described fixed arm (4) up and down inner surface the open type Trolley case by the top end roller supporting seat (7), the square pocket side wall that top return pulley axle back-up block (32) and described fixed arm (4) are offered up and down forms, the two ends of roller supporting axle (10) at the bottom of the described top of described top return pulley axle back-up block (32) support, roller (8) rotated at the bottom of roller supporting axle (10) drove described top at the bottom of the described top, and the open type Trolley case of side inner surface that is positioned at described fixed arm (4) is by side roll supporting seat (24), the square pocket side wall that side wheel shaft back-up block (36) and described fixed arm (4) side are offered forms, described side wheel shaft back-up block (36) supports the two ends of described side roll back shaft (25), and described side roll back shaft (25) drives described side roll (35) and rotates.
2. the large stroke robot arm device in the finite size according to claim 1 space, it is characterized in that: the roller of described idler wheel mechanism is rolling bearing, the inner ring of described rolling bearing and roller supporting axle immovable fitting are rotated synchronously, and the outer ring of described rolling bearing contacts with described gib block.
3. the large stroke robot arm device in the finite size according to claim 2 space, it is characterized in that: every group of described idler wheel mechanism comprises two rolling bearings arranged side by side.
4. the large stroke robot arm device according to claim 1～3 in the described finite size of any one space, it is characterized in that: described Timing Belt bracing frame (3) is Y shaped bracket, have afterbody V-arrangement supporting frame part and head supporting frame part, the end of described afterbody V-arrangement supporting frame part is near the surface of described fixed arm riser (1), between the upper and lower opening support body of described afterbody V-arrangement bracing frame, also pass through a fixed installation support afterbody tensioning transverse slat (2) supplemental support, described Timing Belt (18) mechanism has auxiliary tensioning apparatus, described auxiliary tensioning apparatus comprises the adjustment screw (23) of threaded engagement and adjusts screw base (22), described support afterbody tensioning transverse slat (2) is rotationally connected with the end of adjusting screw (23), described adjustment screw base (22) is fixedly connected with described fixed arm (4), tune the position that whole screw (23) is adjusted afterbody tensioning transverse slat (2) by control, making afterbody tensioning transverse slat (2) drive described Timing Belt bracing frame (3) moves axially along fixed arm (4), and then adjust wheelspan between described active synchronization belt wheel (5) and the described passive and synchronous belt wheel (9), thereby adjust the tensioning degree of described Timing Belt (18), the end of described head supporting frame part also rolls with described lever arm (11) inner surface by a rotating cylinder mechanism and contacts, described rotating cylinder mechanism comprises rotating cylinder bolster (14) and stop sleeve (13), and described stop sleeve (13) rotates around rotating cylinder bolster (14).
5. the large stroke robot arm device according to claim 1～3 in the described finite size of any one space, it is characterized in that: described active synchronization belt wheel (5) carries out axial location with its wheel shaft by flat key (20), by the shaft shoulder and active synchronization belt wheel spacer (33) active synchronization belt wheel (5) is carried out axial restraint, along described Timing Belt (18) a series of Timing Belt back shafts (27) that also distribute, make further tensioning of described Timing Belt (18).
6. the large stroke robot arm device according to claim 1～3 in the described finite size of any one space, it is characterized in that: also be provided with auxiliary displacement guide support roller (6) at inner lever arm (11) near-end of described fixed arm (4), the rotating shaft of described displacement guide support roller (6) is fixedly mounted on described lever arm (11) near-end, and described support roller (6) rolls along the inner surface of described fixed arm (4).
7. the large stroke robot arm device according to claim 1～3 in the described finite size of any one space is characterized in that: be provided with three groups of described idler wheel mechanisms along every described gib block.
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| CN201210434286.5A CN102941580B (en) | 2012-11-05 | 2012-11-05 | Long-strake mechanical arm device in finite-scale space |
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| CN201210434286.5A CN102941580B (en) | 2012-11-05 | 2012-11-05 | Long-strake mechanical arm device in finite-scale space |
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| CN107915046A (en) * | 2017-11-24 | 2018-04-17 | 安徽鲲鹏装备模具制造有限公司 | A kind of sucker manipulator of more times of stroke liftings |
| CN109986546A (en) * | 2019-04-30 | 2019-07-09 | 清研同创机器人（天津）有限公司 | A kind of rectangular telescopic arm of splicing structure |
| CN114687663A (en) * | 2022-03-04 | 2022-07-01 | 国网四川省电力公司达州供电公司 | Rotary drilling rig |
| WO2022228477A1 (en) * | 2021-04-27 | 2022-11-03 | 刘素华 | Low-thickness rolling guide telescopic rocker arm |
| CN117021158A (en) * | 2023-08-18 | 2023-11-10 | 中信重工机械股份有限公司 | Telescoping mechanism and mechanical equipment based on floating slide block support |
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| EP0162343A1 (en) * | 1984-05-07 | 1985-11-27 | Jan Ekman | A device of the kind comprising two telescopically coordinated members |
| US5020323A (en) * | 1988-10-03 | 1991-06-04 | Huerlimann Peter | Telescopically extendable and retractable arm |
| JPH04122596A (en) * | 1990-09-07 | 1992-04-23 | Asahi Kogyosha:Kk | Telescopic type expansion pipe |
| CN202097743U (en) * | 2011-05-13 | 2012-01-04 | 陈烈明 | Double-arm manipulator |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4319864A (en) * | 1979-02-21 | 1982-03-16 | Roland Kaufeldt | Apparatus for producing rapid movement and smooth braking and a precisely defined final position of a movable robot arm |
| EP0162343A1 (en) * | 1984-05-07 | 1985-11-27 | Jan Ekman | A device of the kind comprising two telescopically coordinated members |
| US5020323A (en) * | 1988-10-03 | 1991-06-04 | Huerlimann Peter | Telescopically extendable and retractable arm |
| JPH04122596A (en) * | 1990-09-07 | 1992-04-23 | Asahi Kogyosha:Kk | Telescopic type expansion pipe |
| CN202097743U (en) * | 2011-05-13 | 2012-01-04 | 陈烈明 | Double-arm manipulator |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128733A (en) * | 2013-03-23 | 2013-06-05 | 宁夏巨能机器人系统有限公司 | Telescopic vertical beam device |
| CN103128733B (en) * | 2013-03-23 | 2015-08-19 | 宁夏巨能机器人系统有限公司 | Telescopic vertical beam device |
| CN104626192A (en) * | 2014-12-16 | 2015-05-20 | 中国空间技术研究院 | Multi-lead-screw linkage repeatable extending satellite-borne mechanism |
| CN107915046A (en) * | 2017-11-24 | 2018-04-17 | 安徽鲲鹏装备模具制造有限公司 | A kind of sucker manipulator of more times of stroke liftings |
| CN109986546A (en) * | 2019-04-30 | 2019-07-09 | 清研同创机器人（天津）有限公司 | A kind of rectangular telescopic arm of splicing structure |
| WO2022228477A1 (en) * | 2021-04-27 | 2022-11-03 | 刘素华 | Low-thickness rolling guide telescopic rocker arm |
| CN114687663A (en) * | 2022-03-04 | 2022-07-01 | 国网四川省电力公司达州供电公司 | Rotary drilling rig |
| CN117021158A (en) * | 2023-08-18 | 2023-11-10 | 中信重工机械股份有限公司 | Telescoping mechanism and mechanical equipment based on floating slide block support |
| CN117021158B (en) * | 2023-08-18 | 2024-01-26 | 中信重工机械股份有限公司 | Telescoping mechanism and mechanical equipment based on floating slide block support |
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|---|---|
| CN102941580B (en) | 2015-02-25 |
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